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If a drone (represented as a particle) can move with equal velocity in any direction, the set of possible 3D coordinates after one time step is a 3D sphere. The image plane of a camera projects all 3D points into a 2D camera frame [1]. If the sphere is centered at with radius and camera focal length , then the optimal goal location for the drone is parameterized by the (latitude, longitude) pair :

,

.

If is , there are infinite solutions with .

The goal location is:

This projects onto the image plane at the point . Because is always negative, the drone decreases the distance in . Interestingly, the sphere projects into a 2D ellipse in the image plane. With equations given by [2], the ellipse is centered at